CN117182965A - Wire fixing device and robot - Google Patents

Abstract

The application belongs to the technical field of robot equipment, and provides a wire fixing device and a robot, wherein the wire fixing device comprises: an elastic framework which is tubular or rod-shaped; the connecting disc is provided with two connecting discs which are respectively fixedly connected with the end parts of the elastic framework and provided with a plurality of through holes distributed along the circumferential direction; the guide assemblies are arranged at intervals along the extending direction of the elastic framework and comprise a plurality of guide rings arranged along the circumferential direction of the elastic framework, and each guide ring is provided with a first opening; the support rings are at least provided with two guide grooves along the extending direction of the elastic framework, a plurality of guide grooves are arranged along the circumferential direction, the guide grooves are arranged corresponding to the guide rings, and the guide grooves are provided with second openings; the protection tube is sleeved outside the guide assemblies, the end parts of the protection tube are connected with the support ring and can rotate relative to the support ring, and a third opening through which a cable can pass is formed in the circumferential direction.

Description

Wire fixing device and robot

Technical Field

The application relates to the technical field of robot equipment, in particular to a wire fixing device and a robot.

Background

The cables of the SCARA robot comprise a power line, a coding line, a grounding line, a reserved air pipe, an reserved IO line and the like, are all arranged in the corrugated pipe at present, and are inconvenient to detach and replace when the cables are damaged and need to be replaced, for example, when the cables are detached, the joints at the end parts of the cables are usually detached firstly, and then the cables can be taken out; when a new cable is replaced, the two ends of other cables are loosened, and then the new cable can be passed through the corrugated pipe. In general, current cable fixing forms are inconvenient to replace.

Disclosure of Invention

Aiming at the defects in the prior art, the application aims to provide a wire fixing device and a robot, which are convenient for replacing cables.

In a first aspect, the present application provides a wire fixing device, comprising: an elastic framework which is tubular or rod-shaped; the connecting disc is provided with two connecting discs which are respectively fixedly connected with the end parts of the elastic framework and provided with a plurality of through holes distributed along the circumferential direction; the guide assemblies are arranged at intervals along the extending direction of the elastic framework and comprise a plurality of guide rings arranged along the circumferential direction of the elastic framework, and each guide ring is provided with a first opening; the support rings are at least provided with two guide grooves along the extending direction of the elastic framework, a plurality of guide grooves are arranged along the circumferential direction, the guide grooves are arranged corresponding to the guide rings, and the guide grooves are provided with second openings; and the protection tube is sleeved outside the guide assemblies, the end parts of the protection tube are connected with the support ring and can rotate relative to the support ring, and a third opening capable of allowing the cable to pass through is formed in the circumferential direction.

Further, the guide assembly further comprises: the annular hoop body is sleeved outside the elastic framework, and the guide ring is arranged on the annular hoop body; and the locking structure is used for locking the annular hoop body.

Further, the annular hoop body includes: a first ring body having a fourth opening; the connecting parts are oppositely arranged at the fourth opening of the first ring body; the sliding groove is arranged along the circumferential direction of the first ring body; the guide ring is slidably disposed in the chute.

Further, the cross section of the chute is in a convex shape, and a certain distance is kept between two ends of the chute and the two connecting parts respectively; the guide ring includes: a second ring body having the first opening; and the sliding holding part is fixedly connected with the second ring body and can move into the sliding groove from the interval.

Further, the slide holding portion includes: a housing; the rotating shaft is rotationally connected with the shell, one end of the rotating shaft is fixedly connected with the second ring body, and the other end of the rotating shaft extends into the shell; the gear is coaxially connected with the other end of the rotating shaft and synchronously moves along with the rotating shaft; the racks are oppositely arranged, are connected with the inner wall of the shell in a sliding manner, are meshed with the gears, and can extend out of the shell at one end; the compressing block is fixedly arranged at one end of the rack and can be abutted with the groove wall of the chute; and the torsion spring is sleeved on the rotating shaft and used for enabling one end of the rack to have a trend of moving outwards of the shell.

Further, the two second ring bodies nearest to the fourth opening are deflected in the direction away from the fourth opening in the first opening direction.

Further, an insertion hole capable of enabling one end of the torsion spring to be inserted is formed in the gear, and a clamping groove capable of enabling the other end of the torsion spring to be inserted is formed in the inner wall of the shell.

Further, the device further comprises a slip ring which is arranged on the support ring and can rotate along the circumferential direction of the support ring, the slip ring is provided with a fifth opening corresponding to the second opening, and the slip ring is connected with the end part of the protection tube.

Further, the device further comprises a flexible filler arranged between two adjacent supporting rings and positioned in the protection tube, wherein the flexible filler is used for shielding the third opening.

In a second aspect, the present application provides a robot comprising a wire fixing device as described in any one of the preceding claims.

The application has the beneficial effects that: the application provides a wire fixing device and a robot, wherein the wire fixing device is characterized in that a wire fixing device comprises an elastic framework, a connecting disc, a guide assembly, a support ring and a protection tube, when a wire is required to be replaced, a third opening of the protection tube is rotated to a position opposite to a first opening corresponding to the wire required to be replaced, then the wire can be taken out from guide grooves on the guide ring and the support member, finally the wire is taken down through the third opening on the protection tube, and the wire is clamped into the corresponding guide grooves on the guide ring and the support member through the third opening on the protection tube during installation. Therefore, when a certain cable is replaced, other cables do not need to be moved, the protection tube does not need to be detached, and the cable can be replaced conveniently.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. Like elements or portions are generally identified by like reference numerals throughout the several figures. In the drawings, elements or portions thereof are not necessarily drawn to scale.

Fig. 1 is a schematic structural diagram of a robot according to an embodiment of the present application;

FIG. 2 is a perspective view of a wire fixing device according to an embodiment of the present application;

FIG. 3 is a perspective view of a portion of a wire fixing device according to an embodiment of the present application;

FIG. 4 is a schematic view of a support ring according to an embodiment of the present application;

FIG. 5 is a perspective view of a support ring and slip ring according to one embodiment of the present application assembled together;

FIG. 6 is a schematic view of an elastic framework, a guide assembly, a support ring, a slip ring and a flexible filler according to an embodiment of the present application;

FIG. 7 is a perspective view of a guide assembly according to an embodiment of the present application;

FIG. 8 is a perspective view of a guide ring according to an embodiment of the present application;

fig. 9 is a perspective view, partially in section, of a slide retaining portion provided in an embodiment of the present application;

fig. 10 is a perspective view showing a part of the structure of a slide holding portion according to an embodiment of the present application;

FIG. 11 is a longitudinal half cross-sectional view of a guide ring provided in an embodiment of the present application;

reference numerals:

100. a base; 200. a first mechanical arm; 300. a second mechanical arm; 400. a housing;

10. an elastic skeleton;

20. a connecting disc; 21. a through hole;

30. a guide assembly;

31. a guide ring; 311. a second ring body; 3111. a first opening; 312. a slide holding portion; 3121. a housing; 3122. a slot; 3123. a rotating shaft; 3124. a gear; 3125. a rack; 3126. a jack; 3127. a compaction block; 3128. a torsion spring;

32. an annular hoop body; 321. a first ring body; 322. a fourth opening; 323. a connection part; 324. a chute; 325. spacing;

33. a locking structure;

40. a support ring; 41. a guide groove; 42. a second opening;

50. a protective tube; 51. a third opening;

60. a slip ring;

70. a flexible filler.

Detailed Description

Embodiments of the technical scheme of the present application will be described in detail below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present application, and thus are merely examples, and are not intended to limit the scope of the present application.

It is noted that unless otherwise indicated, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this application belongs.

In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present application.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present application, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

As shown in fig. 1, the present application provides a robot, in particular, a SCARA robot, which includes a base 100, a first robot arm 200, a second robot arm 300, and a housing 400, the housing 400 being disposed on the second robot arm 300. As shown in fig. 2-11, the present application provides a wire fixing device that is mounted on the above SCARA robot. The wire fixing device in this embodiment includes an elastic skeleton 10, a connection disc 20, a guide assembly 30, a support ring 40, and a protection tube 50.

The elastic framework 10 is tubular or rod-shaped, and can be made of metal or composite material, and the composite material can be glass fiber. Two ends of the elastic framework 10 are respectively provided with a connecting disc 20, and each connecting disc 20 is fixedly connected with one end part of the elastic framework 10, and the fixed connection is preferably detachable connection such as threaded connection, buckle connection and the like. The connection disc 20 is provided with a plurality of through holes 21 distributed along the circumferential direction, the through holes 21 are used for enabling cables to pass through, the number of the through holes 21 is preferably 5 in the embodiment, and the two connection discs 20 are respectively connected with the base and the shell 400 of the SCARA robot in a threaded connection or bolt assembly connection mode.

A plurality of guide members 30 are provided at intervals along the extending direction of the elastic bobbin 10, and the plurality of guide members 30 are located between the two connection pads 20. Each guide assembly 30 includes a plurality of guide rings 31 distributed along the circumferential direction of the elastic skeleton 10, and the guide rings 31 on the guide assembly 30 are in one-to-one correspondence with the through holes 21 on the connection disc 20, so that the number of the guide rings 31 is also 5. The guide ring 31 has a first opening 3111 through which the cable can pass, and the guide ring 31 may be a metal ring or a plastic ring. Each guide assembly 30 may comprise only a plurality of guide rings 31, in which case each guide ring 31 is fixedly connected to the elastic skeleton 10, and may comprise other parts than the guide rings 31.

At least two support rings 40 are provided along the extension direction of the elastic skeleton 10, and all the support rings 40 are located between the two connection plates 20. When the number of support rings 40 is 2, all the guide assemblies 30 are located between two support rings 40; when the number of the support rings 40 is greater than 2, all the guide assemblies 30 are located between the two outermost support rings 40, and a certain number of guide assemblies 30 are distributed between two adjacent support rings 40. A plurality of guide grooves 41 are provided on each support ring 40 in the circumferential direction, the guide grooves 41 are provided in one-to-one correspondence with the guide rings 31, and therefore the number of the guide grooves 41 is also 5, and the guide grooves 41 have second openings 42 through which the cables can pass.

The protection tube 50 is sleeved outside the guide assemblies 30, and two ends of the protection tube 50 are respectively connected with the support ring 40 and can rotate relative to the support ring 40. The protection tube 50 is a bellows tube, but has a third opening 51 in the circumferential direction through which the cable can pass, and the third opening 51 completely penetrates the protection tube 50 in the extending direction of the protection tube 50. The number of the protection pipes 50 is one less than the number of the support rings 40. Since the conventional bellows of the SCARA robot generally includes one straight line segment at which one protection tube 50 is provided and one semicircular arc segment at which two protection tubes 50 are provided, and the number of the protection tubes 50 is preferably 3 for the convenience of rotating the protection tubes 50.

When the cable is inserted into the guide ring 31, the first opening 3111 of the guide ring 31 is properly enlarged during the process of inserting the cable into the guide ring 31 by making the opening size of the first opening 3111 smaller than the diameter of the cable to prevent the cable from being separated from the first opening 3111 during use. The guide groove 41 of the support ring 40 cannot be easily enlarged like the guide ring 31 due to its different structure, and thus the opening size of the second opening 42 is larger than the diameter of the cable. For the third opening 51 of the protection tube 50, the opening size is larger than the second opening 42 for convenience of operation.

In actual use, as shown in fig. 6, to reduce the risk of the cable coming out of the first opening 3111, the first openings 3111 on the five guide rings 31 are directed upward as much as possible, and the third openings 51 on the protection tube 50 are directed downward.

In this embodiment, when the cable needs to be replaced, the third opening 51 of the protection tube 50 is rotated to a position opposite to the first opening 3111 corresponding to the cable needs to be replaced, then the cable can be taken out from the guide ring 31 and the guide groove 41 on the support member, and finally removed through the third opening 51 on the protection tube 50, and the cable is clamped into the corresponding guide ring 31 and the guide groove 41 on the support member through the third opening 51 on the protection tube 50 during installation. Therefore, when a certain cable is replaced, other cables do not need to be moved, the protection tube 50 does not need to be detached, and the cable can be replaced conveniently.

In one embodiment, as shown in FIG. 7, the guide assembly 30 includes other components in addition to the guide ring 31, and in particular, an annular collar 32 and a locking structure 33. The annular hoop body 32 is sleeved outside the elastic framework 10, a guide ring 31 is arranged on the annular hoop body, and a locking structure 33 is used for locking the annular hoop body 32. The guide assembly 30 is conveniently secured to the elastomeric frame 10 by the annular collar 32 and the locking structure 33.

In one embodiment, as shown in fig. 7, the annular collar 32 includes a first ring 321, a connection 323, and a chute 324. The first ring body 321 has a fourth opening 322, two connecting portions 323 are disposed opposite to the fourth opening 322 of the first ring body 321, the two connecting portions 323 are connected with two ends of the first ring body 321, and preferably the connecting portions 323 are integrally formed with the first ring body 321. A sliding groove 324 is provided along the circumferential direction of the first ring body 321, the guide ring 31 is provided in the sliding groove 324 and is slidable in the sliding groove 324, and when the guide ring 31 stops sliding, the guide ring 31 is kept in the sliding groove 324. The locking structure 33 is preferably a bolt assembly in which a bolt passes through two connecting portions 323.

Since the guide ring 31 is properly enlarged during the cable passing through the first opening 3111, when the number of guide rings 31 in each guide assembly 30 is greater, such as 6 or 7, the spacing 325 between the adjacent guide rings 31 is smaller, and the movement of the guide rings 31 to be enlarged may be limited, so that in this embodiment, the guide rings 31 may move in the sliding grooves 324 and remain stationary after moving, so that when the cable is replaced, the corresponding guide ring 31 or other guide rings 31 may be properly moved, the space around the guide ring 31 corresponding to the cable to be replaced is increased, and thus the cable may be easily clamped into the guide ring 31 or taken out from the guide ring 31.

In one embodiment, as shown in fig. 7, the cross section of the chute 324 is in a convex shape, and a certain distance 325 is kept between two ends of the chute 324 and two connecting portions 323. The guide ring 31 includes a second ring body 311 and a sliding holding portion 312, wherein the second ring body 311 is provided with the first opening 3111, the sliding holding portion 312 is fixedly connected with the second ring body 311 and can move from the space 325 into the chute 324, and the sliding holding portion 312 can also move from the chute 324 out of the chute 324 through the space 325. With the above arrangement, the guide ring 31 is easily installed into the chute 324.

In one embodiment, as shown in fig. 9 to 11, the sliding holding portion 312 includes a housing 3121, a rotation shaft 3123, a gear 3124, a rack 3125, a pressing block 3127, and a torsion spring 3128. The outer shape of the housing 3121 is preferably adapted to the sliding slot 324, i.e. also in the shape of a letter-cut. The rotating shaft 3123 passes through the housing 3121 and is rotatably connected with the housing 3121, one end of the rotating shaft 3123 located outside the housing 3121 is fixedly connected with the second ring 311, and the other end extends into the housing 3121. The gear 3124 is disposed in the housing 3121 and is coaxially and fixedly connected with the other end of the rotation shaft 3123 such that the gear 3124 moves synchronously with the rotation shaft 3123. Two racks 3125 are oppositely arranged in the shell 3121, the racks 3125 are slidably connected with the inner wall of the shell 3121, the two racks 3125 are meshed with the gear 3124, one end of the rack 3125 can extend out of the shell 3121, and the other end of the rack 3125 is fixed with a pressing block 3127. The rack 3125 can drive the pressing block 3127 to move outside the housing 3121, and make the pressing block 3127 abut against the groove wall of the chute 324, preferably, the groove wall of the chute 324 and/or the surface of the pressing block 3127 are subjected to anti-slip treatment, that is, friction force is increased, so that anti-slip capability of the pressing block 3127 is increased. The torsion spring 3128 is sleeved on the rotation shaft 3123, preferably, a jack 3126 into which one end of the torsion spring 3128 is inserted is provided on the gear 3124, and a clamping groove 3122 into which the other end of the torsion spring 3128 is inserted is provided on the inner wall of the housing 3121, so that both ends of the torsion spring 3128 are limited, and the torsion spring 3128 serves to make the one end of the rack 3125 have a tendency to move to the outside of the housing 3121.

In the present embodiment, when the guide ring 31 needs to be moved, only the second ring body 311 needs to be slightly twisted to overcome the resistance of the torsion spring 3128, so that the rack 3125 is retracted into the housing 3121, and the pressing block 3127 is separated from the groove wall of the chute 324, so that the guide ring 31 can be moved. When the guide ring 31 moves to the proper position, the second ring body 311 is released, the pressing block 3127 is re-abutted with the groove wall of the chute 324, and the guide ring 31 is maintained at the moved position. Therefore, the present embodiment has an advantage of facilitating adjustment of the position of the guide ring 31.

In one embodiment, as shown in fig. 6 and 7, the two second rings 311 closest to the fourth opening 322 have the first opening 3111 thereon deflected in a direction away from the fourth opening 322. In general, the arrangement of the five second rings 311 (including the opening positions of the first openings 3111 with respect to the sliding holding portion 312) is preferably consistent, but when the space 325 between the five second rings 311 is small or there are more second rings 311, resulting in the first openings 3111 on the two second rings 311 closest to the fourth opening 322 having to face downward, this situation easily causes the cables to be detached from the two second rings 311. Therefore, in the present embodiment, the first openings 3111 on the two second rings 311 are deflected by a certain angle towards the direction away from the fourth opening 322, so that the first openings 3111 on the two second rings 311 face upwards, thereby reducing the possibility of the cable being separated from the first openings 3111, and ensuring the reliability of the wire fixing device.

In one embodiment, as shown in fig. 5 and 6, the sliding ring 60 is further provided on the support ring 40 and is rotatable in the circumferential direction of the support ring 40, the sliding ring 60 has a fifth opening corresponding to the second opening 42, preferably having an opening size equal to or larger than that of the fourth opening 322, and the sliding ring 60 is connected to the end of the protection tube 50, for example, by bolting. The slip ring 60 may be slidably locked by a separate bolt so that it remains stationary on the support ring 40 after rotation, or may be automatically held stationary after rotation by an interference fit. By providing the slip ring 60, the protection tube 50 is conveniently connected with the support ring 40.

In one embodiment, as shown in fig. 6, the flexible filler 70 is disposed between two adjacent support rings 40 and within the protective tube 50, the flexible filler 70 being used to conceal the third opening 51, preferably the flexible filler 70 being a sponge. The third opening 51 is shielded by the sponge to prevent dust from entering, thereby protecting the cable.

In the description of the present application, numerous specific details are set forth. However, it is understood that embodiments of the application may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the application, and are intended to be included within the scope of the appended claims and description.

Claims (10)

1. A wire fixing device, comprising:

an elastic framework (10) which is tubular or rod-shaped;

the connecting discs (20) are provided with two connecting discs which are fixedly connected with the end parts of the elastic frameworks (10) respectively and are provided with a plurality of through holes (21) distributed along the circumferential direction;

a plurality of guide assemblies (30) are arranged at intervals along the extending direction of the elastic framework (10), each guide assembly comprises a plurality of guide rings (31) arranged along the circumferential direction of the elastic framework (10), and each guide ring (31) is provided with a first opening (3111);

the support rings (40) are at least two along the extending direction of the elastic framework (10), a plurality of guide grooves (41) are arranged along the circumferential direction, the guide grooves (41) are arranged corresponding to the guide rings (31), and the guide grooves (41) are provided with second openings (42); and

and a protection tube (50) which is sleeved outside the plurality of guide assemblies (30), the end part of which is connected with the support ring (40) and can rotate relative to the support ring (40), and a third opening (51) which can enable the cable to pass through is formed in the circumferential direction.

2. A wire fixing device according to claim 1, wherein,

the guide assembly (30) further comprises:

the annular hoop body (32) is sleeved outside the elastic framework (10), and the guide ring (31) is arranged on the annular hoop body; and

and the locking structure (33) is used for locking the annular hoop body (32).

3. A wire fixing device according to claim 2, wherein,

the annular hoop body (32) includes:

a first ring body (321) having a fourth opening (322);

the connecting parts (323) are oppositely arranged at the fourth opening (322) of the first ring body (321); and

a chute (324) arranged along the circumferential direction of the first ring body (321);

the guide ring (31) is slidably disposed within the chute (324).

4. A wire fixing device according to claim 3, wherein,

the cross section of the sliding groove (324) is in a convex shape, and a certain interval (325) is kept between two ends of the sliding groove (324) and the two connecting parts (323) respectively;

the guide ring (31) comprises:

a second ring body (311) having the first opening (3111); and

and a sliding holding part (312) fixedly connected with the second ring body (311) and capable of moving from the space (325) into the sliding groove (324).

5. A wire fixing device according to claim 1, wherein,

the slide holding section (312) includes:

a housing (3121);

a rotating shaft (3123) rotatably connected with the housing (3121), one end of which is fixedly connected with the second ring body (311), and the other end of which extends into the housing (3121);

a gear (3124) coaxially connected to the other end of the rotation shaft (3123) and synchronously moving with the rotation shaft (3123);

the racks (3125) are oppositely arranged, are connected with the inner wall of the shell (3121) in a sliding way, are meshed with the gear (3124), and can extend out of the shell (3121) at one end;

a pressing block (3127) fixedly provided at the one end of the rack (3125) and capable of abutting against the groove wall of the chute (324); and

and a torsion spring (3128) sleeved on the rotation shaft (3123) for enabling the one end of the rack (3125) to have a tendency to move outside the housing (3121).

6. The wire fixing device according to claim 5, wherein,

-two of said second rings (311) nearest to said fourth opening (322), on which the first opening (3111) is deflected in a direction away from said fourth opening (322).

7. A wire fixing device according to claim 6, wherein,

the gear (3124) is provided with a jack (3126) into which one end of the torsion spring (3128) can be inserted, and the inner wall of the housing (3121) is provided with a slot (3122) into which the other end of the torsion spring (3128) can be inserted.

8. A wire fixing device according to any one of claims 1 to 7, wherein,

the device further comprises a slip ring (60) which is arranged on the support ring (40) and can rotate along the circumferential direction of the support ring (40), the slip ring (60) is provided with a fifth opening corresponding to the second opening (42), and the slip ring (60) is connected with the end part of the protection tube (50).

9. The wire fixing device according to claim 8, wherein,

also included is a flexible filler (70) disposed between two adjacent support rings (40) and within the protective tube (50), the flexible filler (70) being configured to conceal the third opening (51).

10. A robot comprising a wire fixing device according to any one of claims 1-9.